- 期刊
- OpenAccess
Humanoid Robot Gait Planning and Experimental Verification
並列摘要
This paper presents an optimized method of gait planning for a small biped humanoid robot developed independently. The three-dimensional inverted pendulum model is adopted to gain the information of the center of gravity (COG) trajectory and angle of each robotic joint to meet the ZMP stability, transform the information into angle and speed of steering, and then realize the stable walking of the robot. The dynamic biped walking experiment based on walking parameters was taken to verify the feasibility and validity of the gait planning method.
延伸閱讀
- Jamzuri, E. R. (2020). An Energy-Efficient Gait Generation for The Humanoid Robot [master's thesis, National Taiwan Normal University]. Airiti Library. https://doi.org/10.6345/NTNU202000830
- Hsu, H. J. (2013). Humanoid Robot Gait Imitation and Representation [master's thesis, National Chung Cheng University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0033-2110201613564670
- 蔡鎮全（2007）。Simultaneous Localization and Mapping for a PC-based Controlled Humanoid Robot〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2007.00893
- Chen, T. H. (2009). Humanoid Robot Intelligent Walking Control [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2009.02940
- 胡越陽（2015）。Online Gait Training System Based on Practical Parameters Optimization for Humanoid Robot〔博士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2015.00040